Universal robot

Abstract

A universal robot comprising an X-axis arm (3) which is mounted on a post (1) through a support member (2) movable in the vertical direction and is tiltable into a desired position, and a Z-axis arm (6) which is mounted on a slider (5) movable along the X-axis arm (3) and is tiltable into a desired position. With this arrangement, the transportation of a load to be moved in two-dimensional directions can be carried out by a single linear movement of the slider, so that not only the time required for the load transportation can be reduced but the accuracy of the transportation can be improved very much.

I claim: 
     
       1. A universal robot wherein an X-axis arm is mounted on a support means provided on a post and a Z-axis arm is mounted on a slider slideable on the X-axis arm in the longitudinal direction thereof, said X-axis arm having a length, which robot is characterized in that said X-axis arm is mounted solely on said support means through a rotating mechanism which is rotatable into and lockable in a desired position, said X-axis arm extends in opposite directions on both sides of said post, said Z-axis arm is mounted on said slider through a rotating mechanism which is rotatable into and lockable in a desired position, said slider is slideable along the entire length of said X-axis arm, and said support means is mounted on said post moveably in the vertical direction. 
     
     
       2. A universal robot which comprises: a base;   a post affixed to said base so as to stand upright thereon;   an X-axis arm having a longitudinal axis and a length, said X-axis arm being mounted solely on said post and extending in opposite directions on both sides of said post;   a support member provided on said post for supporting said X-axis arm and moveable with said X-axis arm, on the post, in the vertical direction;   a first rotating mechanism provided between said support member and said X-axis arm for allowing said X-axis arm to rotate into a desired tilted position relative to said post;   a slider mounted on said X-axis arm and slideable along the longitudinal axis of said X-axis arm over the entire length of said X-axis arm;   a Z-axis arm mounted on said slider so as to move with said slider; and   a second rotating mechanism provided between said slider and said Z-axis arm for allowing said Z-axis arm to tilt into a desired angular position relative to said X-axis arm;   a load holding member provided at a lower end of said Z-axis arm.   
     
     
       3. A universal robot as claimed in claim 2, which further comprises wheels provided on said base for moving the whole robot to a desired position. 
     
     
       4. A universal robot as claimed in claim 2, wherein said first rotating mechanism comprises a rotating member fixed, at one end thereof, to said X-axis arm and having, at another end thereof, a sliding face, a bearing, and a sliding face of said support member which slideably contact said sliding face of the rotating member through said bearing; and said second rotating mechanism comprises a rotating member fixed, at one end thereof, to said slider and having, at another end thereof, a sliding face, a bearing, and a sliding face of said slider which slideably contact said sliding face of said rotating member through said bearing. 
     
     
       5. A universal robot which comprises: a base;   a plurality of posts fixed to said base so as to stand upright thereon;   support members each mounted on the respective posts and moveable thereon in the vertical direction;   a support rod provided between said support members and moveable thereon in the vertical direction;   an X-axis arm having a longitudinal axis thereof and a length, said X-axis arm being mounted solely on said support rod and extending in opposite directions on opposite sides of said posts;   a first rotating mechanism provided between said support rod and said X-axis arm for allowing said X-axis arm to tilt in a desired angular position relative to the posts;   a slider mounted on said X-axis arm and slideable along the longitudinal axis of said X-axis arm over the entire length of said X-axis arm;   a Z-axis arm mounted on said slider so as to move with said slider;   a second rotating mechanism provided between said slider and said Z-axis arm for allowing said Z-axis arm to tilt into a desired angular position relative to said X-axis arm; and   a loading holding member provided at a lower end of said Z-axis arm.   
     
     
       6. A universal robot as claimed in claim 5, wherein said first rotating mechanism comprises a rotating member which is fixed, at one end thereof, to said X-axis arm and having, at another end thereof, a sliding face, a bearing, and a sliding face of said support rod which slideably contact said sliding face of said rotating member through said bearing; and said second rotating mechanism comprises a rotating member fixed, at one end thereof, to said slider and having, at another end thereof, a sliding face, a bearing, and a sliding face of said slider which slideably contact said sliding face of said rotating member through said bearing.